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-rw-r--r--sensors/lsm330dlc_gyroscope.c254
1 files changed, 254 insertions, 0 deletions
diff --git a/sensors/lsm330dlc_gyroscope.c b/sensors/lsm330dlc_gyroscope.c
new file mode 100644
index 0000000..6a7f98d
--- /dev/null
+++ b/sensors/lsm330dlc_gyroscope.c
@@ -0,0 +1,254 @@
+/*
+ * Copyright (C) 2013 Paul Kocialkowski <contact@paulk.fr>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <sys/types.h>
+#include <linux/ioctl.h>
+#include <linux/input.h>
+
+#include <hardware/sensors.h>
+#include <hardware/hardware.h>
+
+#define LOG_TAG "smdk4x12_sensors"
+#include <utils/Log.h>
+
+#include "smdk4x12_sensors.h"
+
+struct lsm330dlc_gyroscope_data {
+ char path_enable[PATH_MAX];
+ char path_delay[PATH_MAX];
+
+ sensors_vec_t gyro;
+};
+
+int lsm330dlc_gyroscope_init(struct smdk4x12_sensors_handlers *handlers,
+ struct smdk4x12_sensors_device *device)
+{
+ struct lsm330dlc_gyroscope_data *data = NULL;
+ char path[PATH_MAX] = { 0 };
+ int input_fd = -1;
+ int rc;
+
+ ALOGD("%s(%p, %p)", __func__, handlers, device);
+
+ if (handlers == NULL)
+ return -EINVAL;
+
+ data = (struct lsm330dlc_gyroscope_data *) calloc(1, sizeof(struct lsm330dlc_gyroscope_data));
+
+ input_fd = input_open("gyro_sensor");
+ if (input_fd < 0) {
+ ALOGE("%s: Unable to open input", __func__);
+ goto error;
+ }
+
+ rc = sysfs_path_prefix("gyro_sensor", (char *) &path);
+ if (rc < 0 || path[0] == '\0') {
+ ALOGE("%s: Unable to open sysfs", __func__);
+ goto error;
+ }
+
+ snprintf(data->path_enable, PATH_MAX, "%s/enable", path);
+ snprintf(data->path_delay, PATH_MAX, "%s/poll_delay", path);
+
+ handlers->poll_fd = input_fd;
+ handlers->data = (void *) data;
+
+ return 0;
+
+error:
+ if (data != NULL)
+ free(data);
+
+ if (input_fd >= 0)
+ close(input_fd);
+
+ handlers->poll_fd = -1;
+ handlers->data = NULL;
+
+ return -1;
+}
+
+int lsm330dlc_gyroscope_deinit(struct smdk4x12_sensors_handlers *handlers)
+{
+ ALOGD("%s(%p)", __func__, handlers);
+
+ if (handlers == NULL)
+ return -EINVAL;
+
+ if (handlers->poll_fd >= 0)
+ close(handlers->poll_fd);
+ handlers->poll_fd = -1;
+
+ if (handlers->data != NULL)
+ free(handlers->data);
+ handlers->data = NULL;
+
+ return 0;
+}
+
+int lsm330dlc_gyroscope_activate(struct smdk4x12_sensors_handlers *handlers)
+{
+ struct lsm330dlc_gyroscope_data *data;
+ int rc;
+
+ ALOGD("%s(%p)", __func__, handlers);
+
+ if (handlers == NULL || handlers->data == NULL)
+ return -EINVAL;
+
+ data = (struct lsm330dlc_gyroscope_data *) handlers->data;
+
+ rc = sysfs_value_write(data->path_enable, 1);
+ if (rc < 0) {
+ ALOGE("%s: Unable to write sysfs value", __func__);
+ return -1;
+ }
+
+ handlers->activated = 1;
+
+ return 0;
+}
+
+int lsm330dlc_gyroscope_deactivate(struct smdk4x12_sensors_handlers *handlers)
+{
+ struct lsm330dlc_gyroscope_data *data;
+ int rc;
+
+ ALOGD("%s(%p)", __func__, handlers);
+
+ if (handlers == NULL || handlers->data == NULL)
+ return -EINVAL;
+
+ data = (struct lsm330dlc_gyroscope_data *) handlers->data;
+
+ rc = sysfs_value_write(data->path_enable, 0);
+ if (rc < 0) {
+ ALOGE("%s: Unable to write sysfs value", __func__);
+ return -1;
+ }
+
+ handlers->activated = 1;
+
+ return 0;
+}
+
+int lsm330dlc_gyroscope_set_delay(struct smdk4x12_sensors_handlers *handlers, long int delay)
+{
+ struct lsm330dlc_gyroscope_data *data;
+ int rc;
+
+ ALOGD("%s(%p, %ld)", __func__, handlers, delay);
+
+ if (handlers == NULL || handlers->data == NULL)
+ return -EINVAL;
+
+ data = (struct lsm330dlc_gyroscope_data *) handlers->data;
+
+ rc = sysfs_value_write(data->path_delay, (int) delay);
+ if (rc < 0) {
+ ALOGE("%s: Unable to write sysfs value", __func__);
+ return -1;
+ }
+
+ return 0;
+}
+
+float lsm330dlc_gyroscope_convert(int value)
+{
+ return value * (70.0f / 4000.0f) * (3.1415926535f / 180.0f);
+}
+
+int lsm330dlc_gyroscope_get_data(struct smdk4x12_sensors_handlers *handlers,
+ struct sensors_event_t *event)
+{
+ struct lsm330dlc_gyroscope_data *data;
+ struct input_event input_event;
+ int input_fd;
+ int rc;
+
+// ALOGD("%s(%p, %p)", __func__, handlers, event);
+
+ if (handlers == NULL || handlers->data == NULL || event == NULL)
+ return -EINVAL;
+
+ data = (struct lsm330dlc_gyroscope_data *) handlers->data;
+
+ input_fd = handlers->poll_fd;
+ if (input_fd < 0)
+ return -EINVAL;
+
+ memset(event, 0, sizeof(struct sensors_event_t));
+ event->version = sizeof(struct sensors_event_t);
+ event->sensor = handlers->handle;
+ event->type = handlers->handle;
+
+ event->gyro.x = data->gyro.x;
+ event->gyro.y = data->gyro.y;
+ event->gyro.z = data->gyro.z;
+
+ do {
+ rc = read(input_fd, &input_event, sizeof(input_event));
+ if (rc < (int) sizeof(input_event))
+ break;
+
+ if (input_event.type == EV_REL) {
+ switch (input_event.code) {
+ case REL_RX:
+ event->gyro.x = lsm330dlc_gyroscope_convert(input_event.value);
+ break;
+ case REL_RY:
+ event->gyro.y = lsm330dlc_gyroscope_convert(input_event.value);
+ break;
+ case REL_RZ:
+ event->gyro.z = lsm330dlc_gyroscope_convert(input_event.value);
+ break;
+ default:
+ continue;
+ }
+ } else if (input_event.type == EV_SYN) {
+ if (input_event.code == SYN_REPORT)
+ event->timestamp = input_timestamp(&input_event);
+ }
+ } while (input_event.type != EV_SYN);
+
+ data->gyro.x = event->gyro.x;
+ data->gyro.y = event->gyro.y;
+ data->gyro.z = event->gyro.z;
+
+ return 0;
+}
+
+struct smdk4x12_sensors_handlers lsm330dlc_gyroscope = {
+ .name = "LSM330DLC Gyroscope",
+ .handle = SENSOR_TYPE_GYROSCOPE,
+ .init = lsm330dlc_gyroscope_init,
+ .deinit = lsm330dlc_gyroscope_deinit,
+ .activate = lsm330dlc_gyroscope_activate,
+ .deactivate = lsm330dlc_gyroscope_deactivate,
+ .set_delay = lsm330dlc_gyroscope_set_delay,
+ .get_data = lsm330dlc_gyroscope_get_data,
+ .activated = 0,
+ .needed = 0,
+ .poll_fd = -1,
+ .data = NULL,
+};